I am a PhD candidate working with Dr. Kostas Bekris at Rutgers University. My primary research topics are: manipulation and motion planning, planning under uncertainty, and multi-agent systems. In one of my most recent works, we developed a method demonstrating the first instance of robotic handwriting using inhand manipulation on an underactuated hand. I have also recently developed methods for computing feasible motions for robotic manipulators in the context of significant clutter. I have been a core member of the Rutgers team in several robotics competitions, including most recently the Amazon Picking Challenge (2015,2016).
Some of my past research has been on solving multi-agent path planning problems in crowded scenes using only minimal information (i.e. no communication, no centralization). A potential solution to this specific problem is a method which incorporates notions of game theory (minmax regret analysis to be exact) into a decentralized obstacle avoidance and replanning framework, with the objective of more efficiently guiding agents to their goals. You can find out more about this topic at this page here.
I am also one of the primary developers for the PRACSYS software, our common platform for doing physically-based simulations of autonomous agents, especially for multiple robots.
I am from Reno, Nevada, where I graduated from the University of Nevada, Reno (UNR) in Spring 2012 with a Master of Science in Computer Science. During my master's, I worked at UNR's robotic laboratory, and investigated methods for coordinating teams of agents in a decentralized fashion. You can find more information about this topic on the page that deals with Decentralized Motion Coordination and Team Coherence. I also received my Bachelor of Science in Computer Science from UNR, with minors in Physics and Mathematics.
- Sintov A., Morgan A.,Kimmel A., Dollar A.,Bekris KE., Boularias A. Learning A State Transition Model Of An Underactuated Adaptive Hand, IEEE Robotics and Automation Letters (RA-L) (also appearing at IEEE ICRA 2019), Montreal, Canada, 2019.
- Kimmel A., Shome R., Littlefield Z.,Bekris KE. Fast, Anytime Motion Planning For Prehensile Manipulation In Clutter, IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018), Beijing, China, 2018.
- Calli B., Kimmel A., Hang K., Bekris KE., Dollar A. Path Planning For Within-Hand Manipulation Over Learned Representation Of Safe States, International Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina, 2018.
- Zhu S., Kimmel A., Bekris KE., Boularias A. Fast Model Identification Via Physics Engines For Data-Efficient Policy Search, International Joint Conference on Artificial Intelligence (IJCAI), Stockholm, Sweden, 2018.
- Azizi V., Kimmel A., Bekris KE, Kapdia M. Geometric Reachability Analysis for Grasp Planning in Cluttered Scenes for Varying End-Effectors, 13th IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, 2017.
- Littlefield, Z, Zhu, S, Kourtev, C, Psarakis, Z, Shome, R, Kimmel A., Dobson, A, A. De Souza, F, Bekris, KE Evaluating End-Effector Modalities for Warehouse Picking: A Vacuum Gripper vs a 3-finger Underactuated Hand, 12th IEEE International Conference on Automation Science and Engineering (CASE), Forth Worth, Texas, 2016.
- Kimmel A., Bekris KE.. Scheduling Pick-and-Place Tasks for Dual-arm Manipulators using Incremental Search on Coordination Diagrams, Planning and Robotics Workshop at International Conference on Automated Planning and Scheduling (PlanRob-ICAPS), London, UK, 2016.
- Kimmel A., Bekris KE.. Decentralized Multi-Agent Path Selection Using Minimal Information, International Symposium on Distributed Autonomous Robotic Systems (DARS), Daejeon, Korea, 2014.
- Littlefield Z., Krontiris A., Kimmel A., Dobson A., , Shome R., Bekris KE.. An Extensible Software Architecture for Composing Motion and Task Planners, Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR-2014), Bergamo, Italy, Nov., 2014.
- Krontiris A., Shome R., Dobson A., Kimmel A., Bekris KE.. Rearranging Similar Objects with a Manipulator using Pebble Graphs, IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2014.
- Kimmel A., Bekris KE.. Minimizing Conflicts Between Moving Agents over a Set of Non-Homotopic Paths Through Regret Minimization, AAAI-2013 Workshop on Intelligent Robotic Systems, Bellevue, Washington, 2013.
- Kimmel A., Dobson A., Littlefield Z., Krontiris A., Marble J, Bekris KE.. PRACSYS: An Extensible Architecture for Composing Motion Controllers and Planners, Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR-2012), Tsukuba, Japan, Nov., 2012.
- Kimmel A., Dobson A., Bekris KE.. Maintaining Team Coherence under the Velocity Obstacle Framework, Eleventh International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Valencia, Spain, June, 2012.
- WiELD-CAVE: Wireless ergonomic lightweight device for use in the CAVE. Joshua Hegie, Andrew Kimmel, Kelvin Parian, and Sergiu M. Dascalu, Frederick C. Harris, Jr.Journal of Computational Methods in Science and Engineering, 2010, 177-186.
- Transient Characteristics of Two-Phase LNG Expanders;
Finley, C.D., Kimmel A. et al.; AIChE Spring National Meeting 2007
- Effect of Quadratic Fluid Damping in Two-Phase Liquefied Natural Gas; Kimmel, A.; AIChE Spring National Meeting 2007
- Pressure Induced Non-Linear Oscillations in Two-Phase LNG Pipe Flow; Kimmel, A.; AIChE Spring National Meeting 2006
- Robert Gross, 2014-2016, Sophomore to Senior (continued graduate school)
- Joseph Jaeger, Summer 2013, Senior (continued graduate school)
- Poorva Sampat, Summer 2014, Freshman
- Meera Murti, Summer 2014, Freshman
- Billy Grant, Summer 2014, Freshman
- Rutgers: CS 112 - Data Structures (two semesters)
- UNR: CS 365 - Math of Computer Science
- UNR: CS 282 - Simulation Physics
- UNR: CS 105 - Intro to Computing
- UNR :CS 135 - Computer Science I
- Rizvi Graduate Fellowship (2018)
- College of Science Dean's List (x2)
- College of Engineering Dean's List (x3)
- Millennium Scholarship 2004- 2009
- Silver State Scholarship from 2004-2007
- Member of Tau Beta Pi the Engineering Honors Society
- NSF Scholarship to attend AAMAS (2012), CASE (2017), ISER (2018)
- Conference Travel Awards from Rutgers University to attend DARS (2014), ICAPS (2016)
- Workshop Organizer at CASE (2016)
Department of Computer Science
Rutgers, The State University of New Jersey
110 Frelinghuysen Road
Piscataway, NJ 08854-8019, USA
email : email@example.com
Office: CBIM A